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Merged
YoruCathy merged 3 commits into from
Nov 11, 2024
Merged

Camera Instance Object #170

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443123d
Add test for instance camera
thisjustin123 Nov 11, 2024
2641bbd
Replace executable
thisjustin123 Nov 11, 2024
c9dd7e7
Type check against camera and simplify test
thisjustin123 Nov 11, 2024
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5 changes: 4 additions & 1 deletion pyrcareworld/pyrcareworld/envs/base_env.py
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Expand Up @@ -8,6 +8,9 @@
from pyrcareworld.side_channel import IncomingMessage, OutgoingMessage
from pyrcareworld.utils.rfuniverse_communicator import RFUniverseCommunicator
import os
from typing import TypeVar, Type

BaseAttrGeneric = TypeVar('BaseAttrGeneric', bound='attr.BaseAttr')


class RCareWorld(ABC):
Expand Down Expand Up @@ -413,7 +416,7 @@ def RemoveListenerObject(self, type: str):
"""
self.listen_object.pop(type)

def InstanceObject(self, name: str, id: int = None, attr_type: type = attr.BaseAttr):
def InstanceObject(self, name: str, id: int = None, attr_type: Type[BaseAttrGeneric] = attr.BaseAttr) -> BaseAttrGeneric:
"""
Instantiate an object.

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4 changes: 4 additions & 0 deletions template/Bathing/BathingPlayer_Data/StreamingAssets/aa/AddressablesLink/link.xml
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Expand Up @@ -31,6 +31,7 @@
<type fullname="GelSlimAttr" preserve="all" />
<type fullname="GelSlimCollider" preserve="all" />
<type fullname="IgnoreSelfCollision" preserve="all" />
<type fullname="RCareWorld.Attributes.CameraAttr" preserve="all" />
<type fullname="RCareWorld.Attributes.ColliderAttr" preserve="all" />
<type fullname="RCareWorld.Attributes.ControllerAttr" preserve="all" />
<type fullname="RCareWorld.Attributes.Digit.GelSlimTarget" preserve="all" />
Expand Down Expand Up @@ -64,6 +65,9 @@
<type fullname="TMPro.TextMeshProUGUI" preserve="all" />
<type fullname="TMPro.VertexGradient" preserve="nothing" serialized="true" />
</assembly>
<assembly fullname="UnityEngine.AudioModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null">
<type fullname="UnityEngine.AudioListener" preserve="all" />
</assembly>
<assembly fullname="UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null">
<type fullname="UnityEngine.Camera" preserve="all" />
<type fullname="UnityEngine.GameObject" preserve="all" />
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1 change: 1 addition & 0 deletions .../BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.11.11.16.09.28.hash
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3ebd5dbcd870a52ac6d39e6da20bdd3e
1 change: 1 addition & 0 deletions .../BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.11.11.16.09.28.json
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3 changes: 3 additions & 0 deletions ...aa/StandaloneLinux64/rfuniversebuiltin_assets_all_83243b30d169fdbfe6c8124b75a3dc0e.bundle
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2 changes: 1 addition & 1 deletion template/Bathing/BathingPlayer_Data/StreamingAssets/aa/catalog.json
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2 changes: 1 addition & 1 deletion template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
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2 changes: 1 addition & 1 deletion template/Bathing/BathingPlayer_Data/boot.config
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Expand Up @@ -2,4 +2,4 @@ wait-for-native-debugger=0
hdr-display-enabled=0
gc-max-time-slice=3
force-d3d11-bitblt-model=
build-guid=1e555565fc254b44a7024ead0fedce4f
build-guid=f95dac1bbcae48a0ae6fa8c3b1d0360f
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13 changes: 13 additions & 0 deletions tests/test_bathing_env.py
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Expand Up @@ -3,6 +3,7 @@
NOTE: run this file with pytest -s tests/test_bathing_env.py.
"""

from pyrcareworld.attributes.camera_attr import CameraAttr
from pyrcareworld.envs.bathing_env import BathingEnv

import pytest
Expand Down Expand Up @@ -181,3 +182,15 @@ def test_joint_names(bathing_env: BathingEnv):
assert "link_lift" in robot.data["names"]

bathing_env.step()

def test_instance_camera(bathing_env: BathingEnv):
new_cam: CameraAttr = bathing_env.InstanceObject(name="Camera", id=123456, attr_type=CameraAttr)
new_cam.SetTransform(position=[0, 1.7, 0], rotation=[90, 0, 0])

for _ in range(3):
new_cam.GetRGB(512, 512)
bathing_env.step()
rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8)
print(rgb.shape)
assert(rgb.shape[0] > 0)